Weaving control method and weaving control system

A weaving control method for performing welding along a predetermined weld line while swinging a welding torch by a weaving operation in fillet welding of two materials to be welded, wherein:

• when the weaving operation is performed,
• on a surface perpendicular to a welding direction,
• a position of the welding torch is set such that a weaving reference line which is a center line at an initial position of the weaving operation passes through a base point on a weld line, and at least five fixed end points are set,
• positions of the fixed end points are set such that one or more of the fixed end points are provided on each of both sides across the weaving reference line and a reference end point a being on the weaving reference line and having the shortest distance between a tip and a base metal is provided;
• and
• the weaving operation is performed such that the welding torch moves between the fixed end points along with a trajectory forming a polygon when viewed from the welding direction,
• wherein the number of the fixed end points provided on each of both sides across the weaving reference line is the same, and
• wherein:
• the total number of the fixed end points is 5;
• and
• when two of the fixed end points provided in the vicinity of the one weaving end are defined as a weaving end point b and a weaving end point c and two of the fixed end points provided in the vicinity of the other weaving end are defined as a weaving end point d and a weaving end point e,
• the welding torch repeats an operation of starting from the reference end point a and moving in order of the weaving end point b, the weaving end point c, the weaving end point d, and the weaving end point e.